DART doesn't support ray sensor

[osrf-migration]

Original report (archived issue) by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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DART currently seg-faults when inserting a hokuyo or pr2 model. @jslee02 @karenliu

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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The laser, pr2, and speed_pr2 tests are currently commented out for this reason.

[osrf-migration]

Original comment by Jeongseok Lee (Bitbucket: jlee02, GitHub: jslee02).

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Issue #915 was marked as a duplicate of this issue.

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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Can GPURaySensor be used in the meantime?

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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DART currently has 3 options

• FCL - (default in DART) - used for mesh-mesh collision detection only, does not work with primitive shapes. Primitive shapes are converted into meshes for collision detection.(see FCL issue.
• DARTCollision (JSL) - can be used for primitive-primitive collision detection, does not work with mesh and soft mesh.
• BulletCollision - can be used for primitive-primitive, mesh-mesh or primitive-mesh. But does not work with soft mesh (mesh vertices are not modifiable through API).

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set version to "all"

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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Issue #2285 was marked as a duplicate of this issue.

[AliceCryer]

Is there anything similar to RayShape's GetIntersection(double &_dist, std::string &_entity) function in Gazebo harmonic?

[iche033]

there is an existing pull request, gazebosim/gz-sim#2514, that may be related to what you're looking for. It's still in review though.